I have a doubt about GraphSlam Algorithm introduce in this paper. I add a picture to express my doubts (from page 411, 9th in paper):

enter image description here

As per my knowledge $\Omega$ is the information matrix. So in this algorithm as per 2nd line it is mentioned that $\Omega = 0$. How can I set one zero to a matrix? It is a two dimensional array. So I need an array of values.

2nd doubt: As per line no 3 a $3x3$ matrix add to $\Omega$. How could it be possible because if we turn the page we can see a in line 7 a 6*6 matrix add to $\Omega$. What is the actual meaning of line number 3.

3rd doubt: What is the meaning of $x_0$? Is it a column vector of pose? meaning it represent $x,\ y,\ \theta$?

I want clarify my doubt using a picture.

enter image description here

What is the meaning of adding $\Omega$ at $x_0$?

Please help me to find the solution of these questions.

  • $\begingroup$ Ellena, in the future can you include the page numbers from the book that you are referring to? $\endgroup$ – koverman47 Jul 12 '18 at 15:49
  • $\begingroup$ Also, checkout Latex tutorials and the Tex Stack Exchange. $\endgroup$ – koverman47 Jul 12 '18 at 16:20
  • $\begingroup$ I mention the paper here. In that paper pdf page number 9 and actual paper page 411. $\endgroup$ – Encipher Jul 12 '18 at 18:47
  • $\begingroup$ Ah I see. I edited with page 347 (that's the page from the author's book). Would you change 347 to 411? $\endgroup$ – koverman47 Jul 12 '18 at 18:51
  • $\begingroup$ Yes. It is very nice of you. I am eagerly waiting for my answer. Page number is not a big deal. But I really cannot understand how could I add a 3*3 matrix with a 6*6 matrix? $\endgroup$ – Encipher Jul 12 '18 at 18:56

Your Answer

By clicking "Post Your Answer", you acknowledge that you have read our updated terms of service, privacy policy and cookie policy, and that your continued use of the website is subject to these policies.

Browse other questions tagged or ask your own question.